A big milestone for me! I started this project about 7 months ago and today is the first time #k3lso stands on his own 4 feets!This project has included many late nights and literally all my own free time (and will continue to do so) :-)The consumption...
As I said in the description, Aina is an open-source humanoid robot which aim is to be able to interact not only with its environment in terms of moving through it and grasp some light things but also speak and interact with humans by voice and facial...
I've managed to bring up mapping & visual odometry in my ROS simulation of the love elemental. From the get-go, I knew I wanted to use a kinect/realsense sensor for perception, because having a color + depth map seems like a rich space for doing...
First step to get anywhere is to get ROS2 and the camera working. Which ideally would have been a matter of some apt-gets. Except there were a few complications: ROS2 is native to Ubuntu LTS.Latest LTS is Ubuntu 22.04.Camera Module 3 is a new module...
Once the motor’s spin direction was sorted out, I connected both encoders to verify A/B signals are in sync with motor direction. Again this is checked by commanding motor movement via Ion Studio software and watching the reported encoder value. When...
Introduction As detailed in IMU Processing - part 1, the calibration method for accelerometers was not sufficient to guarantee a good precision. Indeed error reached up to 0.15g error on some axis, that corresponds to 8.5deg. Spherical model calibration...
Before adding new features and drivers to the Aruna library I thought it would be wise to do some household and refactor the library a bit. The current architecture consist of 2 layers. One for logic and the other for hardware interfacing. Old architecture....
A big milestone for me! I started this project about 7 months ago and today is the first time #k3lso stands on his own feets!The consumption is 1A @36v for stand.More to come later on!the specs:Acuator peak torque: 54NmRobot target weight:...
Well designing the robot is all very well, but can it walk? I decided to build a robot simulation using Gazebo, http://gazebosim.org/. It would have been good to do this earlier in the project as it may have helped with some of the...
Wrote a ROS package in python for processing the image from the Logitech C170 (Code available on GitHub). In most example codes available online it's easier to detect the lane by filtering out the lane colors(white, yellow), here i did it in a narrow...
I got all the motor pods connected and running tonight. There's a bit of precession going on with a couple of them and I'm not exactly sure what's going on with that. It could be a wheel or axle that is not mounted entirely flush against a hub...
The previous version of scrappy had a computer, and stepper motors, but no interface between them. In fact, there wasn't even proper coupling between the wheels and the stepper motor (whoops). Both of these have been added with an Teensy 4.1 added to...
The Not So Fun StuffIt's been a while since my last log update. A month ago I started down the road of finalizing the application for my U.S. 501c non-profit status and the accompanying LLC structure. The Open Source Maritime Instrument Project will...
After 4 years I've finally resurrected my RoverPi project. The last project was abandoned for a couple of reasons namely that Raspberry Pi was still developing its HAT standard and I had initially tried designing a board to fit the needs of many...
Hi guys, in this log I intend to explain a little bit how the mobile platform works, so as usual this subsystem will be divided into two main topics: hardware and software, but before that lets see a video! Software One of the main concepts in...